Research Information System
2nd International Symposium on Applied Sciences and Engineering, Erzurum, Turkey, 7 - 09 April 2021, pp.494-498
Abstract— Mobile robots with adaptive fault tolerant control
are distinguished from other mobile robots with the features of
detecting and identifying errors. These mobile robots are able to
continue to work as desired after a fault occurs in the overall
system. This kind of control system can be implemented with
different controller structures. In this study, to reduce the
mobile robot tracking error, an adaptive sliding mode controller
and PID controller are used as the controller system which
applied to a nonlinear mobile robot model in the presence of
disturbance. Moreover, these two systems have been compared
and results are demonstrated in this work.
Keywords—Adaptive fault tolerant control, Dynamic control,
Kinematic control, Adaptive sliding mode control, PID control,
Trajectory tracking